Smoke Eater Autonomous Fire Fighting Robot By David

Smoke Eater Autonomous Fire Fighting Robot By David Morneault EEL 5666 August 3, 2000

Robot Presentation Scope of the project n Reasons for choosing this project n My approach n My accomplishments n Developments for the future n

Introduction If a fire starts in an industrial setting such as a warehouse how can it be eliminated in a timely manner? n Cheaper and less damaging than conventional sprinkler systems n Extinguish or control industrial fires where human presence is scarce. n

Integrated System n Motorola 68 HC 11 microprocessor u 8 analog input ports u 4 output ports

Diagram of the Integrated System IR Detector (940 nm) Proximity sensor IR Detector (940 nm) Proximity sensor Front Center Bumper Front Right Bumper UV Tron Flame Detector MTJPRO 11 With 68 HC 11 Microprocessor And 32 k RAM Front Left Bumper UV Tron amplifier Cd. S Cell Rear Bumper Left Motor Right Motor Servo Controls nozzle Relay (switch) Water Pump Extinguishes fires

Mobile Platform Round body u Easy to maneuver, won’t get caught on corners n Wheels are placed in the center u One caster wheel in the back u Stabilizer bar in the front n

Actuation Two 100 oz. /in. hacked servos for the main motors u Wheel hubs screw into the servo horns for more secure attachment n One 22 oz. /in. servo for moving the nozzle up and down n

Sensor Suite Flame Detector – UV Tron n Proximity Sensor – IR Detectors and Emitters n Bump Sensors – Switches n Line detector – Cd. S cell n

UV Tron Detects ultra-violet light n Outputs a digital signal n Approx. 6 - 10 feet detection range n Angle of detection is about 35 – 40 degrees n

Sensitivity n n Detects ultra-violet light within the range of 185 - 260 nm Insensitive to visible light

Behaviors Roam through a building using proximity sensors and bump sensors to navigate n Search for fires every 5 seconds by spinning 360 degrees n If a fire is found then it will proceed to extinguish it for 2 seconds n If the fire is still burning then the robot will move forward and then spray it again. n

Conclusions Mobile Autonomous robot was built to detect and extinguish fires n This will be less damaging than a sprinkle system would be n Can control or extinguish fires while help is on the way n

Future Developments n Improvements u Aluminum body u CO 2 used to extinguish fires

The End